import launch
import launch.actions
import launch.substitutions
import os
from ament_index_python.packages import get_package_share_directory
import launch_ros.actions

def generate_launch_description():
    config = os.path.join(get_package_share_directory('neo_mpo_700-2'),'configs/teleop','teleop.yaml')
    return launch.LaunchDescription([
        launch_ros.actions.Node(
            package='neo_teleop2', executable='neo_teleop2_node', output='screen',
            name='neo_teleop2_node', parameters = [config])
    ,
     launch_ros.actions.Node(
            package='joy', executable='joy_node', output='screen',
            name='joy_node', parameters = [{'dev': "/dev/input/js0"}, {'deadzone':0.12}])
    ])
